// STD headers
#include <iostream>
#include <assert.h>

// VCG headers
#include <vcg/math/camera.h>
#include <vcg/math/shot.h>

static double precision = 0.000000001;  // 1e-9

double dist2(vcg::Point2d p1, vcg::Point2d p2)
{
  double d = sqrt((p1[0] - p2[0]) * (p1[0] - p2[0]) + (p1[1] - p2[1]) * (p1[1] - p2[1]));
  return d;
}

double dist3(vcg::Point3d p1, vcg::Point3d p2)
{
  double d = sqrt((p1[0] - p2[0]) * (p1[0] - p2[0]) + (p1[1] - p2[1]) * (p1[1] - p2[1]) + (p1[2] - p2[2]) * (p1[2] - p2[2]));
  return d;
}

double checkIdentity(vcg::Matrix44d M)
{
  double d;

  d = (M.ElementAt(0,0) - 1.0) * (M.ElementAt(0,0) - 1.0) + M.ElementAt(0,1) * M.ElementAt(0,1) + M.ElementAt(0,2) * M.ElementAt(0,2) + M.ElementAt(0,3) * M.ElementAt(0,3);
  d += M.ElementAt(1,0) * M.ElementAt(1,0) + (M.ElementAt(1,1) - 1.0) * (M.ElementAt(1,1) - 1.0) + M.ElementAt(1,2) * M.ElementAt(1,2) + M.ElementAt(1,3) * M.ElementAt(1,3);
  d += M.ElementAt(2,0) * M.ElementAt(2,0) + M.ElementAt(2,1) * M.ElementAt(2,1) + (M.ElementAt(2,2) - 1.0) * (M.ElementAt(2,2) - 1.0) + M.ElementAt(2,3) * M.ElementAt(2,3);
  d += M.ElementAt(3,0) * M.ElementAt(3,0) + M.ElementAt(3,1) * M.ElementAt(3,1) + M.ElementAt(3,2) * M.ElementAt(3,2) + (M.ElementAt(3,3) - 1.0) * (M.ElementAt(3,3) - 1.0);

  return d;
}

// TEST1 - PROJECT A 3D POINT IN WORLD COORDINATE ON THE IMAGE PLANE
///////////////////////////////////////////////////////////////////////////////
bool test1(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
  vcg::Point2d p1proj, p2proj;

  p1proj = shot1.Project(p1);
  p2proj = shot2.Project(p2);

  vcg::Point2d p1test(633.58101456110933, 327.22860336234237);
  vcg::Point2d p2test(289.02943695191425, 315.42715619973069);

  if (dist2(p1proj,p1test) > precision)
    return false;

  if (dist2(p2proj,p2test) > precision)
    return false;

  return true;
}

// TEST 2 - PROJECTION AND UNPROJECTION
///////////////////////////////////////////////////////////////////////////////
bool test2(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
  vcg::Point2d p1proj, p2proj;

  p1proj = shot1.Project(p1);
  p2proj = shot2.Project(p2);

  vcg::Point3d p1unproj, p2unproj;
  vcg::Point3d pcam1, pcam2;

  pcam1 = shot1.ConvertWorldToCameraCoordinates(p1);
  p1unproj = shot1.UnProject(p1proj, pcam1[2]);
  pcam2 = shot2.ConvertWorldToCameraCoordinates(p2);
  p2unproj = shot2.UnProject(p2proj, pcam2[2]);

  if (dist3(p1, p1unproj) > precision)
    return false;

  if (dist3(p2, p2unproj) > precision)
    return false;

  return true;
}

// TEST 3 - DEPTH COMPUTATION
///////////////////////////////////////////////////////////////////////////////
bool test3(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
  vcg::Point2d p1proj, p2proj;

  p1proj = shot1.Project(p1);
  p2proj = shot2.Project(p2);

  vcg::Point3d p1unproj, p2unproj;

  double depth1 = shot1.Depth(p1);
  double depth2 = shot2.Depth(p2);

  p1unproj = shot1.UnProject(p1proj, depth1);
  p2unproj = shot2.UnProject(p2proj, depth2);

  if (dist3(p1, p1unproj) > precision)
    return false;

  if (dist3(p2, p2unproj) > precision)
    return false;

  return true;
}

// TEST 4 - CAMERA CONVERSION - CONVERT FOCAL IN PIXELS IN FOCAL IN MM
///////////////////////////////////////////////////////////////////////////////
bool test4(vcg::Shotd shot, vcg::Point3d p1)
{
  vcg::Shotd shotpx = shot;

  // we assume focal is in pixels
  shotpx.Intrinsics.FocalMm = 1028.5949393128985805389837482;
  shotpx.Intrinsics.PixelSizeMm[0] = 1.0;
  shotpx.Intrinsics.PixelSizeMm[1] = 1.0;

  vcg::Point2d pproj;
  pproj = shotpx.Project(p1);

  vcg::Point2d p1proj;
  p1proj = shot.Project(p1);

  if(dist2(pproj, p1proj) > precision)
    return false;

  // CONVERSION - (ccd is assumed to be 35mm width)
  shot.ConvertFocalToMM();

  p1proj = shotpx.Project(p1);

  if (dist2(pproj, p1proj) > precision)
    return false;

  return true;
}

// TEST 5 - CAMERA-SHOT MODIFICATION - CHANGE SCALE FACTOR OF THE WORLD
///////////////////////////////////////////////////////////////////////////////
bool test5(vcg::Shotd shot, vcg::Point3d p1, vcg::Point3d p2)
{
  vcg::Point2d p1projPX, p2projPX;
  p1projPX = shot.Project(p1);
  p2projPX = shot.Project(p2);

  vcg::Point2d p1proj, p2proj;
  p1proj = shot.Intrinsics.ViewportPxToLocal(p1projPX);
  p2proj = shot.Intrinsics.ViewportPxToLocal(p2projPX);

  vcg::Point2d diff;
  double distance_before_world_scaling;
  diff = (p2proj-p1proj);
  distance_before_world_scaling = diff.Norm();

  // WORLD SCALING
  double scalefactor = 20.0;

  // adjust World 3D points
  p1 *= scalefactor;
  p2 *= scalefactor;

  shot.RescalingWorld(scalefactor);

  p1projPX = shot.Project(p1);
  p2projPX = shot.Project(p2);

  p1proj = shot.Intrinsics.ViewportPxToLocal(p1projPX);
  p2proj = shot.Intrinsics.ViewportPxToLocal(p2projPX);

  double distance_after_world_scaling;
  diff = (p2proj - p1proj);
  distance_after_world_scaling = diff.Norm();

  if (vcg::math::Abs(distance_before_world_scaling - (distance_after_world_scaling / scalefactor)) > precision)
    return false;

  return true;
}

// TEST 6 - WORLD-TO-EXTRINSICS AND EXTRINSICS-TO-WORLD TRANSFORMATIONS
bool test6(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
  vcg::Matrix44d WtoE1 = shot1.GetWorldToExtrinsicsMatrix();
  vcg::Matrix44d WtoE2 = shot2.GetWorldToExtrinsicsMatrix();
  vcg::Matrix44d EtoW1 = shot1.GetExtrinsicsToWorldMatrix();
  vcg::Matrix44d EtoW2 = shot2.GetExtrinsicsToWorldMatrix();

  vcg::Matrix44d I1 = WtoE1 * EtoW1;
  vcg::Matrix44d I2 = WtoE2 * EtoW2;
  vcg::Matrix44d I3 = EtoW1 * WtoE1;
  vcg::Matrix44d I4 = EtoW2 * WtoE2;

  if (checkIdentity(I1) > precision)
    return false;

  if (checkIdentity(I2) > precision)
    return false;

  if (checkIdentity(I3) > precision)
    return false;

  if (checkIdentity(I4) > precision)
    return false;

  vcg::Point3d axisX(1.0, 0.0, 0.0);
  vcg::Point3d axisY(0.0, 1.0, 0.0);
  vcg::Point3d axisZ(0.0, 0.0, 1.0);

  vcg::Point3d vx = EtoW1 * axisX;
  vcg::Point3d vy = EtoW1 * axisY;
  vcg::Point3d vz = EtoW1 * axisZ;

  if (dist3(vx, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(0)) > precision)
    return false;

  if (dist3(vy, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(1)) > precision)
    return false;

  if (dist3(vz, shot1.Extrinsics.Tra() + shot1.Extrinsics.Rot().GetRow3(2)) > precision)
    return false;

  return true;
}


// TEST 7 - SHOT MODIFICATION - ROTATION + TRANSLATION
///////////////////////////////////////////////////////////////////////////////
bool test7(vcg::Shotd shot1, vcg::Point3d p1, vcg::Point3d p2)
{
  // store data
  vcg::Matrix44d Rorig = shot1.Extrinsics.Rot();
  vcg::Point3d Torig = shot1.Extrinsics.Tra();

  // pure translation
  vcg::Matrix44d T;
  T.SetIdentity();
  T.ElementAt(0,3) = 10.0;
  T.ElementAt(1,3) = 10.0;
  T.ElementAt(2,3) = 10.0;
  T.ElementAt(3,3) = 1.0;

  vcg::Point2d p1proj = shot1.Project(p1);

  vcg::Point3d tr(T.ElementAt(0,3), T.ElementAt(1,3), T.ElementAt(2,3));
  vcg::Point3d pt = p1 + tr;
  shot1.ApplyRigidTransformation(T);
  vcg::Point2d ptproj = shot1.Project(pt);

  if (dist2(p1proj, ptproj) > precision)
    return false;

  // restore the original reference frame to test another transformation
  shot1.Extrinsics.SetTra(Torig);
  shot1.Extrinsics.SetRot(Rorig);

  // pure rotation
  vcg::Matrix44d R;
  R.SetZero();
  R.ElementAt(0,2) = 1.0;
  R.ElementAt(1,1) = 1.0;
  R.ElementAt(2,0) = -1.0;
  R.ElementAt(3,3) = 1.0;

  vcg::Point3d pr = R * p1;
  shot1.ApplyRigidTransformation(R);
  vcg::Point2d prproj = shot1.Project(pr);

  if (dist2(p1proj, prproj) > precision)
    return false;

  // restore the original reference frame to test another transformation
  shot1.Extrinsics.SetTra(Torig);
  shot1.Extrinsics.SetRot(Rorig);

  // roto-translation
  vcg::Matrix44d RT = T * R;

  vcg::Point3d prt = R * p1 + tr;
  shot1.ApplyRigidTransformation(RT);
  vcg::Point2d prtproj = shot1.Project(prt);

  if (dist2(p1proj, prtproj) > precision)
    return false;

  return true;
}

// TEST 8 - SHOT MODIFICATION - ROTATION + TRANSLATION
///////////////////////////////////////////////////////////////////////////////
bool test8(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
  // put shot1 reference frame into the origin of the World coordinates system
  vcg::Matrix44d M = shot1.GetWorldToExtrinsicsMatrix();

  // NOTE: The roto-translation which maps the point p in World coordinates to the Shot frame
  //       applied to the frame bring it in the world frame.

  shot1.ApplyRigidTransformation(M);

  // then, put in the shot2 reference frame
  M = shot2.GetExtrinsicsToWorldMatrix();
  shot1.ApplyRigidTransformation(M);

  // test..
  vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
  p1proj1 = shot1.Project(p1);
  p1proj2 = shot2.Project(p1);

  p2proj1 = shot1.Project(p2);
  p2proj2 = shot2.Project(p2);

  if (dist2(p1proj1, p1proj2) > precision)
    return false;

  if (dist2(p2proj1, p2proj2) > precision)
    return false;

  return true;
}

// TEST 9 - SHOT MODIFICATION - ROTATION + TRANSLATION
///////////////////////////////////////////////////////////////////////////////
bool test9(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
  vcg::Matrix44d M1 = shot1.GetExtrinsicsToWorldMatrix();
  vcg::Matrix44d M2 = shot2.GetWorldToExtrinsicsMatrix();
  vcg::Matrix44d M;
  M = M2 * M1;  // is the roto-translation that maps a point in the frame of Shot1 in a point in the frame of Shot2
  // BUT M2 brings the frame of Shot2 in the World system and M1 brings the World system in the Shot1 reference frame
  // HENCE the combined roto-translation which maps the frame of Shot2 in the frame of Shot2 is M1 * M2 (!!!)

  vcg::Matrix44d Mframe = M1 * M2;

  // apply it..
  shot2.ApplyRigidTransformation(Mframe);

  // and test it..
  vcg::Point2d p1proj1, p2proj1, p1proj2, p2proj2;
  p1proj1 = shot1.Project(p1);
  p1proj2 = shot2.Project(p1);

  p2proj1 = shot1.Project(p2);
  p2proj2 = shot2.Project(p2);

  if (dist2(p1proj1, p1proj2) > precision)
    return false;

  if (dist2(p2proj1, p2proj2) > precision)
    return false;

  return true;
}

// TEST 10 - SHOT MODIFICATION - SIMILARITY
///////////////////////////////////////////////////////////////////////////////
bool test10(vcg::Shotd shot1, vcg::Shotd shot2, vcg::Point3d p1, vcg::Point3d p2)
{
  vcg::Point2d p1proj = shot1.Project(p1);

  // store data
  vcg::Matrix44d Rorig = shot1.Extrinsics.Rot();
  vcg::Point3d Torig = shot1.Extrinsics.Tra();

  // pure translation
  vcg::Matrix44d T;
  T.SetIdentity();
  T.ElementAt(0,3) = 10.0;
  T.ElementAt(1,3) = 10.0;
  T.ElementAt(2,3) = 10.0;
  T.ElementAt(3,3) = 1.0;

  vcg::Point3d tr(T.ElementAt(0,3), T.ElementAt(1,3), T.ElementAt(2,3));

  // pure rotation
  vcg::Matrix44d R;
  R.SetZero();
  R.ElementAt(0,2) = 1.0;
  R.ElementAt(1,1) = 1.0;
  R.ElementAt(2,0) = -1.0;
  R.ElementAt(3,3) = 1.0;

  // scaling
  vcg::Matrix44d S;
  double scale = 10.0;
  S.SetIdentity();
  S *= scale;
  S.ElementAt(3,3) = 1.0;

  vcg::Point3d psim = R * S * p1 + tr;

  vcg::Matrix44d SRT = T * R * S;

  shot1.ApplySimilarity(SRT);
  vcg::Point2d psimproj = shot1.Project(psim);

  if (dist2(p1proj, psimproj) > precision)
    return false;

  // restore the original reference frame to test another transformation
  shot1.Extrinsics.SetTra(Torig);
  shot1.Extrinsics.SetRot(Rorig);

  vcg::Similarityd sm;
  double pihalf = 3.1415926535897932384626433832795 / 2.0;
  sm.SetRotate(pihalf, vcg::Point3d(0.0,1.0,0.0));
  sm.sca = scale;
  sm.tra = tr;

  shot1.ApplySimilarity(sm);
  psimproj = shot1.Project(psim);

  if (dist2(p1proj, psimproj) > precision)
    return false;

  return true;
}


int main()
{
  vcg::Point3d p1(20.0, 25.0, 10.0);
  vcg::Point3d p2(-6.0, 25.0, 50.0);
  vcg::Shotd shot1;
  vcg::Shotd shot2;

  // Initialize camera 1 (C1)
  shot1.Intrinsics.cameraType = vcg::Camera<double>::PERSPECTIVE;
  shot1.Intrinsics.FocalMm = 30.0;
  shot1.Intrinsics.CenterPx[0] = 600.0; shot1.Intrinsics.CenterPx[1] = 400.0;
  shot1.Intrinsics.ViewportPx[0] = 1200; shot1.Intrinsics.ViewportPx[1] = 800;
  shot1.Intrinsics.PixelSizeMm[0] = 0.029166; shot1.Intrinsics.PixelSizeMm[1] = 0.029166;

  // no distorion is assumed (!)
  shot1.Intrinsics.DistorCenterPx[0] = shot1.Intrinsics.DistorCenterPx[1] = 0.0;
  shot1.Intrinsics.k[0] = 0.0; shot1.Intrinsics.k[1] = 0.0; shot1.Intrinsics.k[2] = 0.0; shot1.Intrinsics.k[3] = 0.0;

  vcg::Matrix44d R1; // -10 degree around Y axis
  double deg2rad = 0.01745329251994329576923690768489;
  R1.ElementAt(0,0) = vcg::math::Cos(-10.0*deg2rad);
  R1.ElementAt(0,1) = 0.0;
  R1.ElementAt(0,2) = vcg::math::Sin(-10.0*deg2rad);
  R1.ElementAt(0,3) = 0.0;
  R1.ElementAt(1,0) = 0.0;
  R1.ElementAt(1,1) = 1.0;
  R1.ElementAt(1,2) = 0.0;
  R1.ElementAt(1,3) = 0.0;
  R1.ElementAt(2,0) = -vcg::math::Sin(-10.0*deg2rad);
  R1.ElementAt(2,1) = 0.0;
  R1.ElementAt(2,2) = vcg::math::Cos(-10.0*deg2rad);
  R1.ElementAt(2,3) = 0.0;
  R1.ElementAt(3,0) = 0.0;
  R1.ElementAt(3,1) = 0.0;
  R1.ElementAt(3,2) = 0.0;
  R1.ElementAt(3,3) = 1.0;

  vcg::Point3d T1(30.0, 30.0, 80.0);
  shot1.Extrinsics.SetTra(T1);
  shot1.Extrinsics.SetRot(R1);

  // Initialize camera 2 (C2)
  shot2.Intrinsics.cameraType = vcg::Camera<double>::PERSPECTIVE;
  shot2.Intrinsics.FocalMm = 30.0;
  shot2.Intrinsics.CenterPx[0] = 600.0; shot2.Intrinsics.CenterPx[1] = 400.0;
  shot2.Intrinsics.ViewportPx[0] = 1200; shot2.Intrinsics.ViewportPx[1] = 800;
  shot2.Intrinsics.PixelSizeMm[0] = 0.029166; shot2.Intrinsics.PixelSizeMm[1] = 0.029166;

  // no distortion is assumed (!)
  shot2.Intrinsics.DistorCenterPx[0] = shot2.Intrinsics.DistorCenterPx[1] = 0.0;
  shot2.Intrinsics.k[0] = 0.0; shot2.Intrinsics.k[1] = 0.0; shot2.Intrinsics.k[2] = 0.0; shot2.Intrinsics.k[3] = 0.0;


  vcg::Matrix44d R2; // 18 degree around Y axis (+ 180 degree for the correct orientation of the camera)
  R2.ElementAt(0,0) = vcg::math::Cos(-45.0*deg2rad);
  R2.ElementAt(0,1) = 0.0;
  R2.ElementAt(0,2) = vcg::math::Sin(-45.0*deg2rad);
  R2.ElementAt(0,3) = 0.0;
  R2.ElementAt(1,0) = 0.0;
  R2.ElementAt(1,1) = 1.0;
  R2.ElementAt(1,2) = 0.0;
  R2.ElementAt(1,3) = 0.0;
  R2.ElementAt(2,0) = -vcg::math::Sin(-45.0*deg2rad);
  R2.ElementAt(2,1) = 0.0;
  R2.ElementAt(2,2) = vcg::math::Cos(-45.0*deg2rad);
  R2.ElementAt(2,3) = 0.0;
  R2.ElementAt(3,0) = 0.0;
  R2.ElementAt(3,1) = 0.0;
  R2.ElementAt(3,2) = 0.0;
  R2.ElementAt(3,3) = 1.0;

  vcg::Point3d T2(50.0, 30.0, 80.0);
  shot2.Extrinsics.SetTra(T2);
  shot2.Extrinsics.SetRot(R2);


  // TEST 1 - project a 3D point in World coordinates on the image plane
  if (test1(shot1, shot2, p1, p2))
  {
    std::cout << "TEST 1 (projection) - PASSED(!)" << std::endl;
  }
  else
    std::cout << "TEST 1 (projection) - FAILED(!)" << std::endl;

  // TEST 2 - projection and unprojection
  if (test2(shot1, shot2, p1, p2))
  {
    std::cout << "TEST 2 (unprojection) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 2 (unprojection) - FAILED(!)" << std::endl;
  }

  // TEST 3 - DEPTH COMPUTATION
  if (test3(shot1, shot2, p1, p2))
  {
    std::cout << "TEST 3 (depth computation) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 3 (depth computation) - FAILED(!)" << std::endl;
  }


  // TEST 4 - CAMERA CONVERSION - CONVERT FOCAL IN PIXELS IN FOCAL IN MM
  if (test4(shot1, p1))
  {
    std::cout << "TEST 4 (focal in px to focal in mm) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 4 (focal in px to focal in mm) - FAILED(!)" << std::endl;
  }

  // TEST 5 - CAMERA-SHOT MODIFICATION - CHANGE SCALE FACTOR OF THE WORLD
  if (test5(shot1, p1, p2))
  {
    std::cout << "TEST 5 (scaling the World) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 5 (scaling the World) - FAILED(!)" << std::endl;
  }

  // TEST 6 - WORLD-TO-EXTRINSICS AND EXTRINSICS-TO-WORLD TRANSFORMATIONS
  if (test6(shot1, shot2, p1, p2))
  {
    std::cout << "TEST 6 (World-to-Extrinsics and Extrinsics-to-World) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 6 (World-to-Extrinsics and Extrinsics-to-World) - FAILE(!)" << std::endl;
  }

  // TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
  if (test7(shot1, p1, p2))
  {
    std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 7 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
  }

  // TEST 7 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
  if (test8(shot1, shot2, p1, p2))
  {
    std::cout << "TEST 8 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 8 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
  }

  // TEST 9 - SHOT MODIFICATION - ROTO-TRANSLATION OF THE SHOT COORDINATES SYSTEM
  if (test9(shot1, shot2, p1, p2))
  {
    std::cout << "TEST 9 (roto-translation of the Shot coordinates system) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 9 (roto-translation of the Shot coordinates system) - FAILED(!)" << std::endl;
  }

  // TEST 10 - SHOT MODIFICATION - SIMILARITY TRANSFORMATION
  if (test10(shot1, shot2, p1, p2))
  {
    std::cout << "TEST 10 (similarity transform of the Shot coordinates system) - PASSED(!)" << std::endl;
  }
  else
  {
    std::cout << "TEST 10 (similarity transform of the Shot coordinates system) - FAILED(!)" << std::endl;
  }

  return 0;
}